CatPot 2015-2016 / Mbed 2 deprecated CatPot_2v10_T_Main

ジャパンオープン用のメインプログラム

Dependencies:   mbed AQM1602 HMC6352 PID

setting/def.h@3:c49ea7ad8e91, 2016-03-03 (annotated)

Committer:
lilac0112_1
Date:
Thu Mar 03 11:47:49 2016 +0000
Revision:
3:c49ea7ad8e91
Parent:
2:635947de1583
Child:
4:52da8da146d4
somehow

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 0:ea35c18c85fc 1 #ifndef _DEF_H_
lilac0112_1 0:ea35c18c85fc 2 #define _DEF_H_
lilac0112_1 0:ea35c18c85fc 3
lilac0112_1 0:ea35c18c85fc 4 //BT(BlueTooth)
lilac0112_1 0:ea35c18c85fc 5 #define DATA_NUM 8+2//2byte→KEYCODE（拝啓）とCHECKCODE（敬具） 8byte→やりとりするデータ
lilac0112_1 0:ea35c18c85fc 6 #define TX_KEYCODE 0xAA//あちらのKEYCODE
lilac0112_1 0:ea35c18c85fc 7 #define RX_KEYCODE 0xAA//こちらのKEYCODE
lilac0112_1 0:ea35c18c85fc 8 #define KEY 0//KEYCODEは配列の最初
lilac0112_1 0:ea35c18c85fc 9 #define CHECK DATA_NUM-1//CHECKCODEは配列の最後
lilac0112_1 0:ea35c18c85fc 10
lilac0112_1 0:ea35c18c85fc 11
lilac0112_1 0:ea35c18c85fc 12 //Switch 入力値
lilac0112_1 0:ea35c18c85fc 13 #define NONE 0
lilac0112_1 0:ea35c18c85fc 14 #define UP 1
lilac0112_1 0:ea35c18c85fc 15 #define DOWN 2
lilac0112_1 0:ea35c18c85fc 16 #define RIGHT 3
lilac0112_1 0:ea35c18c85fc 17 #define LEFT 4
lilac0112_1 0:ea35c18c85fc 18
lilac0112_1 0:ea35c18c85fc 19 //Lcd 設定値
lilac0112_1 3:c49ea7ad8e91 20 #define BUFSIZE 7
lilac0112_1 0:ea35c18c85fc 21 #define STATE_NUM_X 0x04
lilac0112_1 0:ea35c18c85fc 22 #define STATE_NUM_Y 0x10
lilac0112_1 3:c49ea7ad8e91 23
lilac0112_1 3:c49ea7ad8e91 24 typedef struct {//for command
lilac0112_1 3:c49ea7ad8e91 25 char LcdStr[STATE_NUM_X][BUFSIZE];
lilac0112_1 3:c49ea7ad8e91 26 uint8_t str_num;
lilac0112_1 3:c49ea7ad8e91 27 uint8_t (*CommandFunction)(uint8_t x);
lilac0112_1 3:c49ea7ad8e91 28 } CommandItem;
lilac0112_1 3:c49ea7ad8e91 29
lilac0112_1 0:ea35c18c85fc 30 //繰り返し割り込み
lilac0112_1 0:ea35c18c85fc 31 #define DUTY_NUM 1
lilac0112_1 0:ea35c18c85fc 32
lilac0112_1 0:ea35c18c85fc 33 #define DUTY_SW 0
lilac0112_1 0:ea35c18c85fc 34 #define DUTY_GYRO 1
lilac0112_1 0:ea35c18c85fc 35 #define DUTY_PING 2
lilac0112_1 0:ea35c18c85fc 36 #define DUTY_COLOR 3
lilac0112_1 0:ea35c18c85fc 37 #define DUTY_MOUSE 4
lilac0112_1 0:ea35c18c85fc 38
lilac0112_1 0:ea35c18c85fc 39 /*PID処理*/
lilac0112_1 0:ea35c18c85fc 40 #define RATE 0.052//52
lilac0112_1 0:ea35c18c85fc 41 #define PID_BIAS 1.0
lilac0112_1 0:ea35c18c85fc 42 #define REFERENCE 180.0
lilac0112_1 0:ea35c18c85fc 43 #define MINIMUM 0.0
lilac0112_1 0:ea35c18c85fc 44 #define MAXIMUM 359.9
lilac0112_1 0:ea35c18c85fc 45 #define P_GAIN 1.3//1.25//0.8 //0.78
lilac0112_1 0:ea35c18c85fc 46 #define I_GAIN 0.0 //0.0
lilac0112_1 0:ea35c18c85fc 47 #define D_GAIN 0.01//0.01 //0.009
lilac0112_1 0:ea35c18c85fc 48 #define OUT_LIMIT 30.0
lilac0112_1 0:ea35c18c85fc 49 #define MAX_POW 100
lilac0112_1 0:ea35c18c85fc 50 #define MIN_POW -100
lilac0112_1 0:ea35c18c85fc 51 #define PID_CYCLE 0.05 //s
lilac0112_1 0:ea35c18c85fc 52
lilac0112_1 0:ea35c18c85fc 53 //ir
lilac0112_1 0:ea35c18c85fc 54 #define IR_X 0
lilac0112_1 0:ea35c18c85fc 55 #define IR_Y 1
lilac0112_1 0:ea35c18c85fc 56 #define IR_SHORT 0
lilac0112_1 0:ea35c18c85fc 57 #define IR_LONG 1
lilac0112_1 0:ea35c18c85fc 58
lilac0112_1 0:ea35c18c85fc 59 #define X_AXIS 0
lilac0112_1 0:ea35c18c85fc 60 #define Y_AXIS 1
lilac0112_1 0:ea35c18c85fc 61
lilac0112_1 1:3e013ae7900d 62
lilac0112_1 1:3e013ae7900d 63 #define DIS_0 0x0//low_value
lilac0112_1 1:3e013ae7900d 64 #define DIS_1 0x1
lilac0112_1 1:3e013ae7900d 65 #define DIS_2 0x2
lilac0112_1 1:3e013ae7900d 66 #define DIS_3 0x3
lilac0112_1 1:3e013ae7900d 67 #define DIS_4 0x4
lilac0112_1 1:3e013ae7900d 68 #define DIS_5 0x5
lilac0112_1 1:3e013ae7900d 69 #define DIS_6 0x6
lilac0112_1 1:3e013ae7900d 70 #define DIS_7 0x7//high_value
lilac0112_1 1:3e013ae7900d 71
lilac0112_1 0:ea35c18c85fc 72 //ping
lilac0112_1 0:ea35c18c85fc 73 #define L_PING 0
lilac0112_1 0:ea35c18c85fc 74 #define R_PING 1
lilac0112_1 0:ea35c18c85fc 75 #define F_PING 2
lilac0112_1 0:ea35c18c85fc 76 #define B_PING 3
lilac0112_1 0:ea35c18c85fc 77
lilac0112_1 0:ea35c18c85fc 78 //0,1...main
lilac0112_1 0:ea35c18c85fc 79 //2,3...debug board
lilac0112_1 0:ea35c18c85fc 80
lilac0112_1 0:ea35c18c85fc 81 //line
lilac0112_1 0:ea35c18c85fc 82 #define A_SPOT 0
lilac0112_1 0:ea35c18c85fc 83 #define B_SPOT 1
lilac0112_1 0:ea35c18c85fc 84 #define C_SPOT 2
lilac0112_1 0:ea35c18c85fc 85 #define AB_SPOT 3
lilac0112_1 0:ea35c18c85fc 86
lilac0112_1 0:ea35c18c85fc 87 #define LINE_RF 5
lilac0112_1 0:ea35c18c85fc 88 #define LINE_DELAY 0.5
lilac0112_1 0:ea35c18c85fc 89
lilac0112_1 0:ea35c18c85fc 90 //思考パターン
lilac0112_1 0:ea35c18c85fc 91 #define STRATEGY_NUM 12
lilac0112_1 0:ea35c18c85fc 92
lilac0112_1 0:ea35c18c85fc 93 //計算
lilac0112_1 0:ea35c18c85fc 94 #define ROUND(x) ((x > 0) ? (x + 0.5) : (x - 0.5))//x...整数
lilac0112_1 0:ea35c18c85fc 95 #define PI 3.14159265358979323846
lilac0112_1 0:ea35c18c85fc 96 #define DEG2RAD(deg) (PI*(deg)/180.0)
lilac0112_1 0:ea35c18c85fc 97 #define RAD2DEG(rad) (180.0(rad)/PI)
lilac0112_1 0:ea35c18c85fc 98
lilac0112_1 0:ea35c18c85fc 99 //データ
lilac0112_1 1:3e013ae7900d 100 /*
lilac0112_1 0:ea35c18c85fc 101 typedef struct {//ir,line,gyro,mouse,ping
lilac0112_1 0:ea35c18c85fc 102 //ping
lilac0112_1 0:ea35c18c85fc 103 uint8_t ping[4];
lilac0112_1 0:ea35c18c85fc 104 //ir
lilac0112_1 0:ea35c18c85fc 105 uint8_t irKey;
lilac0112_1 0:ea35c18c85fc 106 uint8_t irNotice;
lilac0112_1 0:ea35c18c85fc 107 uint8_t irSpot[2];
lilac0112_1 0:ea35c18c85fc 108 uint8_t irPosition;
lilac0112_1 0:ea35c18c85fc 109 uint8_t IrFlag;
lilac0112_1 0:ea35c18c85fc 110 //line
lilac0112_1 0:ea35c18c85fc 111 uint8_t lnFlag[3];
lilac0112_1 0:ea35c18c85fc 112 uint8_t ball;
lilac0112_1 0:ea35c18c85fc 113 uint8_t KickOffFlag;
lilac0112_1 0:ea35c18c85fc 114 //uint8_t LineBind[4];//宣言すると動かない⇒構造体の限界
lilac0112_1 0:ea35c18c85fc 115 uint8_t KickFlag;
lilac0112_1 0:ea35c18c85fc 116 //motor
lilac0112_1 0:ea35c18c85fc 117 int32_t motorlog[2];
lilac0112_1 0:ea35c18c85fc 118 uint8_t MotorFlag;
lilac0112_1 0:ea35c18c85fc 119 double s_pow;
lilac0112_1 0:ea35c18c85fc 120 double l_pow;
lilac0112_1 0:ea35c18c85fc 121 //cmps&pid
lilac0112_1 0:ea35c18c85fc 122 uint8_t PidFlag;
lilac0112_1 0:ea35c18c85fc 123 double cmps, CmpsInitialValue, CmpsDiff, FrontDeg;//0<x<360
lilac0112_1 0:ea35c18c85fc 124 double InputPID;//<<gyrosensor
lilac0112_1 0:ea35c18c85fc 125 int16_t OutputPID;//>>motor
lilac0112_1 0:ea35c18c85fc 126 uint8_t strategy;
lilac0112_1 0:ea35c18c85fc 127 uint8_t init_point_flag;
lilac0112_1 0:ea35c18c85fc 128 uint8_t stopflag;
lilac0112_1 0:ea35c18c85fc 129 } Record;
lilac0112_1 1:3e013ae7900d 130 */
lilac0112_1 0:ea35c18c85fc 131 //NewStruct
lilac0112_1 0:ea35c18c85fc 132 typedef struct {
lilac0112_1 0:ea35c18c85fc 133 //cmps&pid
lilac0112_1 0:ea35c18c85fc 134 double cmps, CmpsInitialValue, CmpsDiff, FrontDeg;//0<x<360
lilac0112_1 0:ea35c18c85fc 135 double InputPID;//<<gyrosensor
lilac0112_1 0:ea35c18c85fc 136 int16_t OutputPID;//>>motor
lilac0112_1 0:ea35c18c85fc 137 } CompassVal;
lilac0112_1 0:ea35c18c85fc 138 typedef struct {
lilac0112_1 0:ea35c18c85fc 139 //ping
lilac0112_1 0:ea35c18c85fc 140 uint8_t ping[4];
lilac0112_1 0:ea35c18c85fc 141 //line
lilac0112_1 0:ea35c18c85fc 142 uint8_t lineSpot[3];
lilac0112_1 2:635947de1583 143 uint8_t lnFlag[3];
lilac0112_1 2:635947de1583 144 /*uint8_t LineFlag[3];
lilac0112_1 2:635947de1583 145 uint8_t LinePriority[3];
lilac0112_1 2:635947de1583 146 uint8_t LineBind[3];*/
lilac0112_1 0:ea35c18c85fc 147 //ir(spi)
lilac0112_1 0:ea35c18c85fc 148 uint8_t irKey;//2bit
lilac0112_1 1:3e013ae7900d 149 uint8_t irValPhase[2];//3*2bit
lilac0112_1 2:635947de1583 150 uint8_t irDif[2];//3bit
lilac0112_1 2:635947de1583 151 uint8_t irPosition;//5bit
lilac0112_1 2:635947de1583 152
lilac0112_1 2:635947de1583 153 uint8_t irSpot[2];//4*2bit//old
lilac0112_1 0:ea35c18c85fc 154 //ir(playing)
lilac0112_1 0:ea35c18c85fc 155 uint8_t irNotice;
lilac0112_1 0:ea35c18c85fc 156 //ball
lilac0112_1 0:ea35c18c85fc 157 uint8_t ball;
lilac0112_1 0:ea35c18c85fc 158 } SensorVal;
lilac0112_1 0:ea35c18c85fc 159 typedef struct {
lilac0112_1 0:ea35c18c85fc 160 //system,flag
lilac0112_1 0:ea35c18c85fc 161 uint8_t strategy;
lilac0112_1 0:ea35c18c85fc 162 uint8_t jump_flag;//0<=x<=STATE_NUM_Y
lilac0112_1 0:ea35c18c85fc 163 uint8_t stopflag;
lilac0112_1 0:ea35c18c85fc 164 uint8_t KickOffFlag;
lilac0112_1 0:ea35c18c85fc 165 uint8_t DribbleFlag;
lilac0112_1 0:ea35c18c85fc 166 uint8_t KickFlag;
lilac0112_1 0:ea35c18c85fc 167 uint8_t MotorFlag;
lilac0112_1 0:ea35c18c85fc 168 uint8_t IrFlag;
lilac0112_1 0:ea35c18c85fc 169 uint8_t UswFlag;
lilac0112_1 0:ea35c18c85fc 170 uint8_t UswFlag_2;
lilac0112_1 0:ea35c18c85fc 171 uint8_t PidFlag;
lilac0112_1 0:ea35c18c85fc 172 //motor
lilac0112_1 0:ea35c18c85fc 173 double s_pow;
lilac0112_1 0:ea35c18c85fc 174 double l_pow;
lilac0112_1 0:ea35c18c85fc 175 int8_t dri_pow;
lilac0112_1 2:635947de1583 176 uint8_t ir_pow_table;
lilac0112_1 0:ea35c18c85fc 177 } SystemVal;
lilac0112_1 2:635947de1583 178
lilac0112_1 0:ea35c18c85fc 179 #endif